Annotation cross-labeling for autonomous control systems
AssigneeTesla, Inc.
InventorAnting SHEN
Life of this patent
Estimating the term…
Abstract
An annotation system uses annotations for a first set of sensor measurements from a first sensor to identify annotations for a second set of sensor measurements from a second sensor. The annotation system identifies reference annotations in the first set of sensor measurements that indicates a location of a characteristic object in the two-dimensional space. The annotation system determines a spatial region in the three-dimensional space of the second set of sensor measurements that corresponds to a portion of the scene represented in the annotation of the first set of sensor measurements. The annotation system determines annotations within the spatial region of the second set of sensor measurements that indicates a location of the characteristic object in the three-dimensional space.
Claims20
A method, comprising:
- annotating, by a processor, first data corresponding to a scene using a location of at least one object in a first representation space of the first data;
- retrieving, by the processor, second data corresponding to the scene, the second data being represented in a second representation space that is different from the first representation space;
- determining, by the processor, based at least in part on a relationship between the first representation space and the second representation space and on an annotated first data, a region of the second representation space associated with the at least one object;
- and
- annotating, by the processor and based at least in part on the region, the second data corresponding to a location of the at least one object in the second representation space.
A system, comprising:
- at least one computer processor;
- and
- a non-transitory computer-readable storage medium storing computer program instructions that, when executed by the at least one computer processor, cause the at least one computer processor to perform operations comprising:
- obtaining first data corresponding to a scene, the first data being represented in a first representation space;
- annotating the first data using a location of at least one object in the first representation space of the first data;
- retrieving second data corresponding to the scene, the second data being represented in a second representation space that is different from the first representation space;
- determining, based at least in part on a relationship between the first representation space and the second representation space and on an annotated first data, a region of the second representation space associated with the at least one object;
- and
- annotating, based at least in part on the region, the second data corresponding to a location of the at least one object in the second representation space.
A system comprising:
- at least one processor associated with a vehicle and configured to:
- obtain first data corresponding to a scene, the first data being represented in a first representation space;
- annotate the first data using a location of at least one object in the first representation space of the first data;
- retrieve second data corresponding to the scene, the second data being represented in a second representation space that is different from the first representation space;
- determine, based at least in part on a relationship between the first representation space and the second representation space and on an annotated first data, a region of the second representation space associated with the at least one object;
- and
- annotate, based at least in part on the region, the second data corresponding to a location of the at least one object in the second representation space.
Dependencies are inferred from the claim text.